A decentralized real-time control for biped robot

Jun Suzuki, Daiki Ito, Takashi Kageyama, Mitsuharu Morisawa, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

This paper describes a structure of a decentralized control for a biped robot system. The biped robot is regarded as the aggregation of some subsystems. A biped walking is implemented by contacting an environment alternately. The environment consists of various objects with a dynamic characteristic. In other words, there are numerous modes in the environment. Therefore, the mode of the environment should be extracted properly in order to realize a stable walking. A certain mode acts on the COG (center of gravity) directly. It is necessary to communicate each mode to the subsystems which need its mode at hard real time on condition that there is no priority in information. This paper discusses a general structure of decentralized control which information is required to communicate at hard real time. The performance of proposed method is confirmed by the developed simulator.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages69-73
Number of pages5
Publication statusPublished - 2002
Event7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings - Maribor, Slovenia
Duration: 2002 Jul 32002 Jul 5

Other

Other7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings
CountrySlovenia
CityMaribor
Period02/7/302/7/5

Fingerprint

Decentralized control
Real time control
Robots
Gravitation
Agglomeration
Simulators

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Suzuki, J., Ito, D., Kageyama, T., Morisawa, M., & Ohnishi, K. (2002). A decentralized real-time control for biped robot. In International Workshop on Advanced Motion Control, AMC (pp. 69-73)

A decentralized real-time control for biped robot. / Suzuki, Jun; Ito, Daiki; Kageyama, Takashi; Morisawa, Mitsuharu; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. 2002. p. 69-73.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Suzuki, J, Ito, D, Kageyama, T, Morisawa, M & Ohnishi, K 2002, A decentralized real-time control for biped robot. in International Workshop on Advanced Motion Control, AMC. pp. 69-73, 7th International Workshop on Advanced Motion Control, AMC '02 - Proceedings, Maribor, Slovenia, 02/7/3.
Suzuki J, Ito D, Kageyama T, Morisawa M, Ohnishi K. A decentralized real-time control for biped robot. In International Workshop on Advanced Motion Control, AMC. 2002. p. 69-73
Suzuki, Jun ; Ito, Daiki ; Kageyama, Takashi ; Morisawa, Mitsuharu ; Ohnishi, Kouhei. / A decentralized real-time control for biped robot. International Workshop on Advanced Motion Control, AMC. 2002. pp. 69-73
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